Physics tests: Install and run Habitat-sim with Bullet physics #213
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Introduced dynamics test and corresponding habitat-sim with bullet install/test path
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I'd like to get this test (especially the build part) into master before the release. I'll write a separate PR to add assertions and additional tests once we have force/torque caching and more interesting time-stepping schemes. |
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eundersander
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…ebookresearch#213) * Eval on val and add an option to not take the checkpoints config
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…ookresearch#213) * Download object test dataset and install Bullet physics with circleCI * Introduced test_dynamics to model physics phenomena and assert expected simulation results
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Motivation and Context
Test installation of Bullet physics and habitat-sim with Bullet physics in circleCI.
Test python exposed dynamics with various physics implementations (only Bullet currently).
Leaving TODOs for later PR additions. We have no caching of dynamic state currently so I'm not querying or asserting anything about that yet. This PR is primarily to test bullet install, build with bullet, and run the simulator with dynamics.
How Has This Been Tested
Local (MacOS) and devfair (Ubuntu) pytest.
Types of changes
Checklist